140SAI94000S Logic module

Watch Dog Timer The DMC-21x2/21x3 provides an internal watch dog timer which checks for proper microprocessor operation. The timer toggles the Amplifier Enable Output (AMPEN) which can be used to switch the amplifiers off in the event of a serious DMC-21x2/21x3 failure. The AMPEN output is normally high. During power-up and if the microprocessor ceases to function properly, the AMPEN output will go low. The error light will also turn on at this stage. A reset is required to restore the DMC-21x2/21x3 to normal operation. Consult the factory for a Return Materials Authorization (RMA) Number if your DMC-21x2/21x3 is damaged.

Determine Overall Motor Configuration 

Before setting up the motion control system, the user must determine the desired motor configuration. The DMC-21x2 can control any combination of standard servo motors, sinusoidally commutated brushless motors, and stepper motors. Other types of actuators, such as hydraulics can also be controlled, please consult Galil. The following configuration information is necessary to determine the proper motor configuration: Standard Servo Motor Operation: The DMC-21x2 has been setup by the factory for standard servo motor operation providing an analog command signal of +/- 10V. No hardware or software configuration is required for standard servo motor operation.

Sinusoidal Commutation: 

Sinusoidal commutation is configured through a single software command, BA. This configuration causes the controller to reconfigure the number of available control axes. Each sinusoidally commutated motor requires two DAC's. In standard servo operation, the DMC-21x2 has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be designated as having one additional axis for each sinusoidal commutation axis. For example, to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a total of four DAC's and the controller must be a DMC-2142. Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For example: Using a DMC-2142, the command BAA will configure the A axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.